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Suggested solution
Problem 1
D1
D2 L
a) The figure above shows the pontoon of the platform including the position of the columns. 1 and 2 are the diameters of the columns. Calculating the restoring coefficients 33 and 44 for the platform: Given: D1 = 8 m, D2 = 6 m, d1 = 6.99 m, d2 = 7.01 m, L = 100 m GMd1 = 115 m
C 33d = gAwd
1
C 33d 2 = gAWd 2
2 D12 D2 = 1025 9.81 4 4 + 4 6 = 3,16 10 [ N m]
For draft 1 the transverse metacentre height is given: 1 = 115. Volume displacement:
C44 4 will be the restoring moment as we know it from studying static stability. Hence we have
C 44d 1 = g1 GM d1 = 1025 9.81 15400 115 = 1,781 1010 [ Nm]
The metacentre height is given as: GM = KB + BM - KG where K is the point of the keel, B is the centre of buoyancy and G is the centre of gravity. As KB and KG are practically unchanged when the draft is altered by 2cm we have that GM = BM
Calculating the second moment of inertia of the water plane area for draft 1 and 2: Draft 1: (d1 = 6.99 m)
x
a B
Metacentre radius:
BMd 1 =
I xd
D1 D2
I xd 2 = 4(
D14
64 4 64 4 4 2 4 2 8 8 6 6 30 2 + 30 2 ) = 4( + + 64 4 64 4 5 4 = 2,84 10 [m ]
D12
a2 +
D24
D22
a2 )
Metacentre radius:
BM d 2 =
I xd 2 1
C 44d = C 44d + g BM
2 1
T3 = 2
M + A33 C 33
62
4
0,01 +
82
4
0,01 = 15403,1 m 3
A33
2 15, 785 106 = 2= 7,5 s T3d 1 22,1 106 2 15, 785 106 = 2= 19,8 s T3d 2 3,16 106
c) GM > 0 with both drafts, and hence the platform is stable. Given: By formula: GMd1 = 115 m GM = KB KG +BM KB KG const (for two draughts) GMd1 = 115 > 0 115 = (KB - KG) +130 KB KG = -15 GMd2 = -15 + 18.4 GMd2 = 3.4 > 0
d1
d1
Problem 2 All necessary equations are found in the book, pg. 3.8-3.9. Example of Matlab script:
% example for one set of M, B and varying C values clear all; close all; % equation of motion for free, damped oscillation B=1.5; %damping force M=0.5; %inertial force C=10; %restoring force alpha=(B/(2*M)); t=0:0.05:10; omega1=sqrt(C/M-alpha^2); eta0=2; C1=eta0; C2=eta0*alpha/omega1; T=2*pi/omega1;
eta=exp(-alpha*t).*(C1*cos(omega1*t)+C2*sin(omega1*t)); figure(1) plot(t,eta,'b.-') xlabel('\ittime t (s)'); ylabel('\itamplitude \eta (m)'); title('Free, damped oscillations') text(7.25,1.25,['\omega =',num2str(omega1)]) grid on hold on
%Equation of motion for free, undamped oscillations B=1.5; %damping force, DOUBLED M=0.5; %inertial force C=20; %restoring force alpha=(B/(2*M)); t=0:0.05:10; omega1=sqrt(C/M-alpha^2); eta0=2; C1=eta0; C2=eta0*alpha/omega1; eta=exp(-alpha*t).*(C1*cos(omega1*t)+C2*sin(omega1*t)); figure(1) plot(t,eta,'b-') text(7.25,1.10,['\omega =',num2str(omega1)]) hold off legend('C = 10 N/m','C = 20 N/m')
=4.2131 =3.3166
amplitude (m)
0.5
-0.5
-1
5 time t (s)
10
=4.2131 =3.0721
amplitude (m)
0.5
-0.5
-1
5 time t (s)
10
=4.2131 =6.1441
amplitude (m)
0.5
-0.5
-1
5 time t (s)
10
Force components:
=
=
=
t=0 t = 1,5s t = 2,5s 2 0.213 0.036
=
0 0.036 0,2
=
-40 4.159 0.120
Problem 3 All necessary equations are found in the book pg.3.8-3.11. We use equation 3.25 with 0 as the excitation frequency (= the wave frequency). The oscillating systems eigenfrequency is obtained by using C, M and B:
= 1
Since the term (B/2M)2 is much smaller then term C/M, the simpler frequency equation can be used in the practical problems. The excitation amplitude can be chosen freely.
0 =
C B M 2M
C . M
The implementation of equation 3.26 may give some problems. Equation of the form epsilon=0.5*pi+acot()gives realistic results whilst equation epsilon=atan() gives results as shown at figure 3-12 in the textbook. Try both phase shifts using the following script:
% damping parameter % mass in the inertia force % restoring constant
omega=0.:0.1:10; %frequency of the excitation force figure(5) %epsilon=0.5*pi+acot(-B.*omega./(C-m.*omega.^2)); % common version epsilon=atan(-B.*omega./(C-m.*omega.^2)); % textbook version plot(omega,epsilon,'.-'); hold on B=0.75; m=0.5; C=10; % damping parameter % mass in the inertia force % restoring constant
omega=0:0.1:10; % frequency of the excitation force figure(5) %epsilon=0.5*pi+acot(-B.*omega./(C-m.*omega.^2)); % common version epsilon=atan(-B.*omega./(C-m.*omega.^2)); % textbook version plot(omega,epsilon,'k.-') B=0.15; m=0.5; C=10; % damping parameter % mass in the inertia force % restoring constant
omega=0:0.1:10; % excitation frequency figure(5) %epsilon=0.5*pi+acot(-B.*omega./(C-m.*omega.^2)); epsilon=atan(-B.*omega./(C-m.*omega.^2)); plot(omega,epsilon,'r.-') legend('B=1.5','B=0.75','B=0.15') hold off
epsilon=0.5*pi+acot(-B.*omega./(C-m.*omega.^2));
epsilon=atan(-B.*omega./(C-m.*omega.^2));
amplitude (m)
0 =4.4721
-3 -4
=2 / =0.1142
0 1 2 3 time t (s) 4 5 6
Wave frequency lower than eigenfrequency: the system follows the wave frequency in almost the same phase.
Forced, damped oscillation 4 3 2 1 0 -1 -2 reaction excitation
amplitude (m)
0 =4.4721
-3 -4
=8 / =0.84105
Wave frequency larger than eigenfrequency: phase difference close to , lowest amplitude.
0 1 2 3 time t (s) 4 5 6
Forced, damped oscillation 4 3 2 1 0 -1 -2 reaction excitation
amplitude (m)
0 =4.4721
-3 -4
=4 / =0.39758
0 1 2 3 time t (s) 4 5 6
Wave frequency close to eigenfrequency: resonance with damping, phase difference close to .